CN105306924A - Active texture method for linear array binocular 3D imaging - Google Patents
Active texture method for linear array binocular 3D imaging Download PDFInfo
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- CN105306924A CN105306924A CN201510691489.6A CN201510691489A CN105306924A CN 105306924 A CN105306924 A CN 105306924A CN 201510691489 A CN201510691489 A CN 201510691489A CN 105306924 A CN105306924 A CN 105306924A
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Abstract
Embodiments of the invention disclose an active texture method for linear array binocular 3D imaging. The active texture method comprises the following steps: receiving an external trigger control signal with frequency of 2f, generating a first trigger signal with frequency of f and a second trigger signal with frequency of 2f according to the external trigger control signal, and projecting progressively increasing grating stripe light to a photographed object by a 1/f periodic trigger structure layer according to the first trigger signal; collecting the photographed object by a 1/2f periodic trigger camera according to the second trigger signal; and outputting an original image in which images having grid textures and images having no grid textures are alternatively arranged. According to the active texture method disclosed by the invention, the textures of the progressively increasing grating stripe light have the advantages of high brightness and obvious architectural features and can satisfy the requirements on matching features in 3D information calculation; and in addition, in the output original image, the images having grid textures and the images having no grid textures are alternatively arranged, so that by separating the original image, complete 2D images having no grid textures and complete images containing the matching features and having the grid textures can be obtained.
Description
Technical field
The present invention relates in 3D imaging system technology field, particularly relate to a kind of active texture method for linear array binocular 3D imaging.
Background technology
Along with the fast development of industrial automation, the commercial Application of Vision Builder for Automated Inspection is also more and more general.In field of machine vision, linear array binocular 3D camera is the special visual machine of a class.Compared with the battle array binocular 3D camera of face, its transducer only has the photosensitive element of a line, therefore makes high scanning frequency and high-resolution become possibility.The typical field of application of line-scan digital camera detects continuous print material, and the usual uniform motion of detected object, utilizes one or more linear array binocular 3D camera to its continuous sweep line by line, detects its whole surface uniform to reach.
But shortage matching characteristic is a difficult problem in linear array binocular 3D imaging always, especially when taking smooth even curface, image processing software often cannot match each point on described surface accurately and carry out the calculating of 3D information.Usually use the specific structured light of projector on target surface and the plane of reference in prior art, then the image of the structured light that target surface and the plane of reference are formed is taken, and the change of the light signal caused according to target shape in photographic images, phase method is utilized to calculate the position of target and elevation information etc., the final 3D shape forming target.
But the structured light brightness of above-mentioned projection is low, linear array binocular 3D camera has again the feature of supplementary lighting sources high brightness simultaneously, the structure light image finally causing linear array binocular 3D camera to obtain second-rate, and affect follow-up picture structure matching characteristic extraction and carry out the calculating of 3D information, and then cause the mode of above-mentioned use projector structured light can not meet the requirement of linear array binocular 3D camera; After employing the structured light of above-mentioned projection, the final 2D image obtained also can contain said structure light image simultaneously, cause original 2D image to be destroyed.
Summary of the invention
Provide a kind of active texture method for linear array binocular 3D imaging in the embodiment of the present invention, the problem destroying original 2D image to the requirement of matching characteristic information analysis and described structured light can not to be met with the structured light solving use projector of the prior art because brightness is low.
In order to solve the problems of the technologies described above, the embodiment of the invention discloses following technical scheme:
For an active texture method for linear array binocular 3D imaging, comprising:
Receive frequency is the external trigger control signal of 2f;
According to described external trigger control signal, second triggering signal of generated frequency to be first triggering signal of f and frequency be 2f;
Being that cycle trigger architecture laser increases progressively grating fringe light to subject projection with 1/f according to described first triggering signal, is the cycle trigger subject described in collected by camera according to described second triggering signal with 1/2f;
Export the original image having grid texture image and be alternately arranged without grid texture image.
Preferably, after exporting the original image having grid texture image and be alternately arranged without grid texture image, also comprise:
Described original image is sent to image processing module;
Described image processing module carries out graphics process to described original image, exports and has the complete image of grid striped and the complete image without grid striped.
Preferably, receive frequency also comprises before being the external trigger control signal of 2f:
Obtain the movement velocity of subject;
Determine that the trigger rate of described external trigger control signal is 2f according to described movement velocity.
Preferably, generated frequency is first triggering signal of f and frequency is 2f second triggering signal, comprising:
Generate described second triggering signal and have certain time of delay relative to described first triggering signal of generation, described time of delay is less than 1/4f.
Preferably, described in increase progressively grating fringe light and comprise the width in multiple cycle and increase progressively grating fringe light, the pattern incremental manner that described width increases progressively grating fringe light comprises arithmetic progression and to increase progressively or Geometric Sequence increases progressively.
Preferably, described structure laser comprises collimation laser light source and grating, and described collimation laser light source Emission Lasers light beam irradiates, on described grating, increases progressively grating fringe light described in described laser beam generates through described grating.
Preferably, the optical wavelength that described collimation laser light source is launched comprises 808nm, 850nm, 915nm or 940nm.
Preferably, the luminous power of laser that described collimation laser light source is launched comprises 2W, 5W, 7W, 8W or 15W.
Preferably, the expanded-angle of described grating comprises 30 °, 60 ° or 90 °.
Preferably, according to described first triggering signal, increase progressively texture light with the cycle trigger architecture laser of 1/f to subject projection, comprising:
Described first triggering signal is sent to chopper or magneto-optic shutter;
After described chopper or described magneto-optic shutter receive institute's the first triggering signal, to the control that described structure laser place circuit opens or closes, realize described structure laser and increase progressively texture light with the cycle of 1/f to subject projection.
From above technical scheme, the active texture method for linear array binocular 3D imaging that the embodiment of the present invention provides, comprise the external trigger control signal that receive frequency is 2f, according to described external trigger control signal, second triggering signal of generated frequency to be first triggering signal of f and frequency be 2f, according to described first triggering signal, increase progressively grating fringe light with the cycle trigger architecture laser of 1/f to subject projection; According to described second triggering signal, trigger subject described in collected by camera with the cycle of 1/2f; Export the original image having grid texture image and be alternately arranged without grid texture image.
The present invention increases progressively grating fringe light by structure laser to the generation of grating loss laser, wherein grating self has the advantage that generated grating fringe has brightness high, the light that laser is launched has the high and advantage that coherence is good of power, therefore increasing progressively grating fringe light described in is the high grating fringe of brightness, simultaneously, the striated structure of described striped light is characterized as and increases progressively, so above-mentioned high brightness, architectural feature significantly increases progressively grating fringe light, linear array binocular 3D camera can be made to shoot image with high-quality striated pattern, and then, can with described striated pattern as matching characteristic in next step 3D information calculates, in addition, in the present invention, the twice that the cycle increasing progressively structured light is the image shot by camera cycle is projected to subject, so the original image that can export grid texture image and be alternately arranged without grid texture image, namely (or even) number strange in described original image behavior has the image of grid texture, the behavior of even (or strange) number is without the image of grid texture, so just, can successive image process, to the separation of described original image, obtain the complete 2D image without grid texture about subject, and comprise the complete image that matching characteristic has grid striped.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, for those of ordinary skills, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The schematic flow sheet of a kind of active texture method for linear array binocular 3D imaging that Fig. 1 provides for the embodiment of the present invention;
The schematic flow sheet of a kind of external trigger signal frequency defining method that Fig. 2 provides for the embodiment of the present invention;
Fig. 3 adds the schematic diagram of grating generating structure light for collimation laser light source that the embodiment of the present invention provides;
A kind of schematic diagram increasing progressively grating fringe light that Fig. 4 provides for the embodiment of the present invention;
The basic structure schematic diagram of a kind of linear array binocular 3D imaging system with active texture device that Fig. 5 provides for the embodiment of the present invention;
In Fig. 1-5, concrete symbol is:
11-collimation laser light source, 12-grating, 1-texture light cylinder, 2-illumination light cylinder, 3-camera, 4-fuselage.
Embodiment
Technical scheme in the present invention is understood better in order to make those skilled in the art person, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, should belong to the scope of protection of the invention.
See Fig. 1, be the schematic flow sheet of a kind of active texture method for linear array binocular 3D imaging that the embodiment of the present invention provides, the active texture method that the present embodiment provides, specifically comprises,
Step 101: receive frequency is the external trigger control signal of 2f.
In order to meet the requirement of linear array binocular 3D camera high scanning frequency, the described external trigger signal in the present embodiment is the high frequency trigger signal that frequency is about 20kHz.
Before step 101, be illustrated in figure 2 the schematic flow sheet of external trigger signal frequency defining method, can also comprise the steps,
Step 201: the movement velocity obtaining subject.
Linear array binocular 3D camera is commonly used to the object of shooting motion to realize testing goal, so in order to ensure the complete image that finally can obtain described subject, the trigger rate of external trigger control signal needs the change according to the real time kinematics speed of described subject and changes, wherein, described movement velocity can comprise the linear velocity or angular speed etc. of described subject relatively described linear array binocular 3D camera motion.In concrete enforcement, linear velocity trans or angular-rate sensor can be adopted to obtain the movement velocity of described subject, or, if described subject moves with uniform velocity, before described linear array binocular 3D image shot by camera, described subject speed of moving body can be inputted by operation interface directly to control system.
Step 202: determine that the trigger rate of described external trigger control signal is 2f according to described movement velocity.
According to the image Longitudinal precision that described movement velocity and described linear array 3D camera lock, just can determine described trigger rate, specific formula for calculation is as follows:
Trigger rate=the 2* (described movement velocity/image Longitudinal precision) of described external trigger control signal.
Described like this linear array 3D each camera magazine just can gather two images by the same position in described subject.Encoder can be adopted in a particular application to produce described external trigger control signal, and wherein, described encoder refers to the device producing corresponding pulses signal every fixing distance interval or angle intervals.
Step 102: according to described external trigger control signal, second triggering signal of generated frequency to be first triggering signal of f and frequency be 2f.
Signal-processing board is adopted in the present embodiment, two kinds of signals are exported according to obtained described external trigger control signal, second triggering signal of a kind of to be frequency be 2f, be used for triggering camera, first triggering signal of another kind to be the frequency exported after 1/2nd frequency reducings be f, be used for trigger architecture laser, the object of above-mentioned frequency reducing is two pulses in order to ensure corresponding described second triggering signal of a pulse of described first triggering signal, meanwhile, structure laser described in the present embodiment have employed can accept high frequency trigger power panel power.
Further, in order to avoid the rising edge of described structure laser response, generating described second triggering signal has certain time of delay relative to described first triggering signal of generation, and described time of delay is less than 1/4f.
Step 103: be that cycle trigger architecture laser increases progressively grating fringe light to subject projection with 1/f according to described first triggering signal is the cycle trigger subject described in collected by camera according to described second triggering signal with 1/2f.
Wherein, be that cycle trigger architecture laser increases progressively grating fringe light to subject projection with 1/f according to described first triggering signal, also comprise:
Step 301: described first triggering signal is sent to chopper or magneto-optic shutter;
Wherein, chopper be with power electronic device as electronic power switch, have circuit simple, control advantage flexibly; Faraday effect is utilized during magneto-optic shutter, the effect of magneto-optical crystal to incident polarized light plane of polarization is changed by the change of externally-applied magnetic field, thus reach the effect of switching-over light path, there is the advantage that switching speed is fast, stability is high, so select chopper or magneto-optic shutter as contactor, the requirement that described first triggering signal is responded fast can be met.
Step 302: after described chopper or described magneto-optic shutter receive institute's the first triggering signal, to the control that the carrying out of described structure laser place circuit opens or closes, realizing described structure laser is the cycle increase progressively grating fringe light to subject projection with 1/f.
Because there is the trigging control effect of described first triggering signal and described second triggering signal, described structure laser works when high level and projects when increasing progressively grating fringe light, low level and closes, and namely increases progressively grating fringe light with the cycle of 1/f to subject projection; After simultaneously described camera receives described second triggering signal, gather a line image when high level, the cycle of 1/2f triggers subject described in collected by camera.
In image acquisition process, in the cycle of a 1/f, described trigger architecture laser once increases progressively grating fringe light to subject projection, the same position of described camera to described subject gathers two images, wherein, have grid texture image in the image of described collected by camera, all to collect when high level for described camera and described structure laser, in the image of described collected by camera without grid texture image, for described camera be in high level, described structure laser collects when being in low level.Like this after completing whole image acquisition process, the original image that just can generate grid texture image and be alternately arranged without grid texture image, namely (or even) number strange in described original image behavior has the image of grid texture, idol (or strange) count the image of behavior without grid texture.
Simultaneously, described structure laser increases progressively grating fringe light specific implementation to subject projection, as shown in Figure 3, for collimation LASER Light Source adds the schematic diagram of grating generating structure light, described structure laser comprises collimation laser light source 11 and grating 12, described collimation laser light source 11 Emission Lasers light beam irradiates, on described grating 12, increases progressively grating fringe light described in described laser beam generates through described grating 12.
Described collimation laser light source 11 is through the LASER Light Source of colimated light system process, therefore the laser beam that described collimation laser light source 11 is launched has brightness uniformity, advantage that coherence is good, after described collimation laser light source 11 Emission Lasers beam projection is on the grid line of described grating 12, because there is the acting in conjunction of grating slit multislit interference and single slit diffraction, just can transmits in transverse width gradual change on subject, longitudinally keep the multiple high brightness grating fringes equal with laser beam width.
The optical wavelength that described collimation laser light source 11 is launched can be 808nm, 850nm, 915nm or 940nm, and the power of laser can select 2W, 5W, 7W, 8W or 15W according to demand, is certainly not limited to above-mentioned numerical value; In addition, described collimation laser light source 11 can select the semiconductor laser of little, the lightweight and little power consumption of volume as light source.
The expanded-angle that described grating 12 needs determines to decide according to the linear array field range of described camera, and such as described expanded-angle can be 30 °, 60 ° or 90 °, but is not limited to this numerical value.
In order to meet the requirement to matching characteristic information extraction in 3D information computational process, described grating 12 is the grating of specific customization, the stripe formed after described grating 12 processes is that the width in multiple cycle increases progressively grating fringe light, the pattern incremental manner that wherein said width increases progressively grating fringe light comprises arithmetic progression and to increase progressively or Geometric Sequence increases progressively, as shown in Figure 4, be a kind of schematic diagram increasing progressively grating fringe light that the embodiment of the present invention provides.
Step 104: export the original image having grid texture image and be alternately arranged without grid texture image.
After IMAQ work completes, export the original image having grid texture image and be alternately arranged without grid texture image.
After step 104, also comprise the step of image procossing, specifically comprise the steps:
Step 401: described original image is sent to image processing module.
The described original image that two cameras of described binocular 3D camera gather respectively is sent to image processing module, to carry out next step 3D information evaluation work.
Step 402: described image processing module carries out graphics process to described original image, exports and has the complete image of grid striped and the complete image without grid striped.
Described image processing module carries out graphics process to each Zhang Suoshu original image respectively, by having in described original image, grid stripe pattern is capable to be separated with without grid stripe pattern is capable, final acquisition has the complete image of grid striped and the complete image without grid striped about described subject, wherein, the described complete image without grid striped is the not destroyed 2D image of described subject.
In addition, after the complete image having grid striped described in obtaining, just the complete image of grid striped can be had to be input in 3D rendering process software by described, carry out the works for the treatment of such as distortion correction, disparity computation and hole-filling with described grid striped for matching characteristic information, and export parallax data, depth data and 3D model file.
In conjunction with above-mentioned active texture method, present embodiments provide a kind of linear array binocular 3D imaging system with active texture device, be illustrated in figure 5 the basic structure schematic diagram of described linear array binocular 3D imaging system, mainly comprise a texture light cylinder 1, two illumination light cylinders 2, two cameras 3 and fuselage 4, wherein, described texture light cylinder 1, described illumination light cylinder 2 and described camera 3 are laterally disposed side by side on the side of described fuselage 4, described structure laser is provided with in described texture light cylinder 1, illumination laser is provided with in described illumination light cylinder 2, power supply module and external trigger signaling module is provided with in described fuselage 4.
When using the described linear array binocular 3D imaging system acquires image with active texture device, first, give described structure laser and the energising of described illumination laser successively, described illumination laser to the linear array field range projecting laser of described camera 3 as compensating light, described external trigger signaling module detects will the movement velocity of subject, and produce external trigger control signal, then described external trigger control signal generates the first triggering signal and the second triggering signal, described first triggering signal triggers described structure laser and increases progressively grating fringe light in projection, and described in increase progressively grating fringe light and drop in the linear array field range of described camera 3, described second triggering signal controls described camera 3 and carries out IMAQ work.After IMAQ work completes, described subject is static, stopping is sent described external trigger control signal by described external trigger signaling module, now give described structure laser and described illumination laser energising power-off more successively, then the original image obtained is carried out to next step image processing work.
It should be noted that, in this article, the such as relational terms of " first " and " second " etc. and so on is only used for an entity or operation to separate with another entity or operating space, and not necessarily requires or imply the relation that there is any this reality between these entities or operation or sequentially.And, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thus make to comprise the process of a series of key element, method, article or equipment and not only comprise those key elements, but also comprise other key elements clearly do not listed, or also comprise by the intrinsic key element of this process, method, article or equipment.When not more restrictions, the key element limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment comprising described key element and also there is other identical element.
The above is only the specific embodiment of the present invention, those skilled in the art is understood or realizes the present invention.To be apparent to one skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1., for an active texture method for linear array binocular 3D imaging, it is characterized in that, comprising:
Receive frequency is the external trigger control signal of 2f;
According to described external trigger control signal, second triggering signal of generated frequency to be first triggering signal of f and frequency be 2f;
Being that cycle trigger architecture laser increases progressively grating fringe light to subject projection with 1/f according to described first triggering signal, is the cycle trigger subject described in collected by camera according to described second triggering signal with 1/2f;
Export the original image having grid texture image and be alternately arranged without grid texture image.
2. the active texture method for linear array binocular 3D imaging according to claim 1, is characterized in that, after exporting the original image having grid texture image and be alternately arranged without grid texture image, also comprises:
Described original image is sent to image processing module;
Described image processing module carries out graphics process to described original image, exports and has the complete image of grid striped and the complete image without grid striped.
3. the active texture method for linear array binocular 3D imaging according to claim 1, is characterized in that, receive frequency also comprises before being the external trigger control signal of 2f:
Obtain the movement velocity of subject;
Determine that the trigger rate of described external trigger control signal is 2f according to described movement velocity.
4. the active texture method for linear array binocular 3D imaging according to claim 1, is characterized in that, generated frequency is first triggering signal of f and frequency is 2f second triggering signal, comprising:
Generate described second triggering signal and have certain time of delay relative to described first triggering signal of generation, described time of delay is less than 1/4f.
5. the active texture method for linear array binocular 3D imaging according to claim 1, it is characterized in that, the described grating fringe light that increases progressively comprises the width in multiple cycle and increases progressively grating fringe light, and the pattern incremental manner that described width increases progressively grating fringe light comprises arithmetic progression and to increase progressively or Geometric Sequence increases progressively.
6. the active texture method for linear array binocular 3D imaging according to claim 1, it is characterized in that, described structure laser comprises collimation laser light source and grating, described collimation laser light source Emission Lasers light beam irradiates, on described grating, increases progressively grating fringe light described in described laser beam generates through described grating.
7. the active texture method for linear array binocular 3D imaging according to claim 6, is characterized in that, the optical wavelength that described collimation laser light source is launched comprises 808nm, 850nm, 915nm or 940nm.
8. the active texture method for linear array binocular 3D imaging according to claim 6, is characterized in that, the luminous power of the laser that described collimation laser light source is launched comprises 2W, 5W, 7W, 8W or 15W.
9. the active texture method for linear array binocular 3D imaging according to claim 6, is characterized in that, the expanded-angle of described grating comprises 30 °, 60 ° or 90 °.
10. the active texture method for linear array binocular 3D imaging according to claim 1, is characterized in that, according to described first triggering signal, increases progressively texture light, comprising with the cycle trigger architecture laser of 1/f to subject projection:
Described first triggering signal is sent to chopper or magneto-optic shutter;
After described chopper or described magneto-optic shutter receive institute's the first triggering signal, to the control that described structure laser place circuit opens or closes, realize described structure laser and increase progressively texture light with the cycle of 1/f to subject projection.
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